论文信息 - Visual Servoing Graham S. Design for Position Based Robot

Visual Servoing Graham S. Design for Position Based Robot

This paper presents the design of a Cartesian space LQR controller for full three dimensional position based visual servoing. It is shown that by designing the controller in Cartesian space, the design process can be greatly simplified if the LQR cost function is selected appropriately. Ezperimental results which demonstrate the significant improvements in system performance obtained with this design method are also presented.

N Ontario | J. Wilson | Bell William

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